Underwater vehicle or towed body attitude and course single-steering-engine control device

Abstract

According to the attitude and course single-steering-engine control device for the underwater vehicle or the towed body, the attitude and course energy of the underwater vehicle or the towed body can be controlled at the same time through a single steering engine, the installation space of the underwater vehicle or the towed body is saved, the equipment weight is reduced, the principle is simple and reliable, and the device is simple and easy to disassemble and assemble. The control device comprises a shell, a steering engine, three rudder plate shafts, three electromagnetic clutches, a first rotating arm and a second rotating arm. Each rudder plate is connected with a rudder plate shaft, and each rudder plate shaft is connected with an adapter shaft through an electromagnetic clutch; the two horizontal rotating connection shafts are coaxially connected through a second rotating arm, one end of the first rotating arm is connected with the vertical rotating connection shaft, the other end of the first rotating arm is matched with the second rotating arm, and the second rotating arm can drive the vertical rotating connection shaft connected with the first rotating arm to rotate around the axis of the second rotating arm when rotating; the steering engine front end push rod is hinged to the second rotating arm, and the second rotating arm can convert linear motion of the steering engine push rod into rotation of the two horizontal adapter shafts around the axes of the two horizontal adapter shafts.

Description

Technical Field

[0001] The present invention relates to a control device, in particular to a device for controlling the attitude and heading of an underwater vehicle or a towed body, and belongs to the technical field of underwater vehicles and underwater towing. Background Art

[0002] The underwater vehicle or towed body is mainly composed of the main structure, rudder plates and control equipment. The attitude and heading of the vehicle or towed body can be adjusted by adjusting the angle of the rudder plates. In the horizontal direction, by adjusting the angle of attack of the horizontal rudder plates, the lift on the rudder plates can be increased or decreased, thereby changing the pitch attitude of the underwater vehicle or towed body; by adjusting the angle of attack of the unilateral rudder plates, the lift on the unilateral rudder plates can be increased or decreased, thereby changing the roll attitude of the underwater vehicle or towed body. In the vertical direction, by adjusting the angle of attack of the vertical rudder plates, the lift on the vertical rudder plates can be increased or decreased, thereby changing the heading of the underwater vehicle or towed body.

[0003] At present, the real-time attitude and heading adjustment of underwater vehicles or towed bodies is generally carried out by arranging two servos in the horizontal direction to independently adjust the angle of attack of the left and right horizontal rudder plates, and then arranging one servo in the vertical direction to independently adjust the angle of attack of the vertical rudder plate. This method has problems such as large installation space, large servo travel, large weight, high cost and complex structure.

[0004] Therefore, it is necessary to develop an underwater vehicle or towed body attitude and heading control device with small installation space, small servo stroke, small weight, low cost and simple structure. Summary of the invention

[0005] In view of this, the present invention provides a single-servo control device for the attitude and heading of an underwater vehicle or a towed body, which can simultaneously control the attitude and heading of the underwater vehicle or the towed body by relying on a single servo, thereby saving the installation space of the underwater vehicle or the towed body, reducing the weight of the equipment, and the principle is simple and reliable, and it is simple and easy to disassemble and assemble.

[0006] The technical solution of the present invention is: a single-servo control device for the attitude and heading of an underwater vehicle or a towed body, comprising three rudder plates, namely a right horizontal rudder, a left horizontal rudder and a vertical rudder, and also comprising: a housing, a servo, three rudder plate shafts, three electromagnetic clutches, a first rotating arm and a second rotating arm;

[0007] The mounting base is used to support the steering gear in the housing, and the steering gear is hinged on the mounting base; the steering gear is a linear steering gear;

[0008] Each rudder plate is connected to a rudder plate shaft, and each rudder plate shaft is connected to a transfer shaft via an electromagnetic clutch;

[0009] The transfer shaft connected to the rudder plate shafts corresponding to the right horizontal rudder and the left horizontal rudder is called a horizontal transfer shaft, and the two horizontal transfer shafts are coaxially connected through a second rotating arm; the transfer shaft connected to the rudder plate shaft corresponding to the vertical rudder is called a vertical transfer shaft; one end of the first rotating arm is connected to the vertical transfer shaft, and the other end is matched with the second rotating arm, and when the second rotating arm rotates, it can drive the vertical transfer shaft connected to the first rotating arm to rotate around its own axis;

[0010] The steering gear front end push rod is hinged to the second rotating arm, and the second rotating arm can convert the linear motion of the steering gear push rod into the rotation of the two horizontal transfer shafts around their own axes.

[0011] As a preferred embodiment of the present invention: the first rotating arm is arranged horizontally, one end of which is provided with a connecting notch connected to the vertical transfer shaft; and the other end of which is provided with a cylindrical protrusion;

[0012] The middle part of the second rotating arm is used to be coaxially connected with two horizontal transfer shafts, and the lower end is extended with a double-ear hinge seat for connecting with the steering gear; a sheet-shaped shift fork is extended upward at one end of the axis, and a shift fork slot is vertically opened on the shift fork;

[0013] The cylindrical protrusion at the end of the first rotating arm is inserted into the shift fork slot and can slide up and down in the shift fork slot; the axis of the cylindrical protrusion intersects perpendicularly with the axis of the vertical transfer shaft.

[0014] As a preferred embodiment of the present invention: the shift fork notch is a U-shaped groove arranged at the upper end of the shift fork, and a baffle is fixed to the U-shaped opening;

[0015] A semicircular groove is arranged on the lower surface of the baffle at a position corresponding to the cylindrical protrusion.

[0016] As a preferred embodiment of the present invention: one end of the rudder plate shaft is fixed to the rudder plate by using the inclined plane locking principle; the other end is provided with a keyway connected to the electromagnetic clutch and is connected to the electromagnetic clutch by a pin key.

[0017] As a preferred embodiment of the present invention, a shaft elastic retaining ring is provided on the rudder plate shaft to prevent the rudder plate shaft from axial movement.

[0018] As a preferred embodiment of the present invention: when the two electromagnetic clutches in the horizontal direction are powered on and the electromagnetic clutch in the vertical direction is powered off, the right horizontal rudder and the left horizontal rudder are linked, and the vertical rudder does not move, so that the pitch of the underwater vehicle or the towed body can be controlled;

[0019] When the electromagnetic clutch on one side of the horizontal direction is energized and the vertical electromagnetic clutch is de-energized, only the horizontal rudder on the energized side rotates, and the vertical rudder does not move, which can control the roll of the underwater vehicle or the towed body;

[0020] When the two electromagnetic clutches in the horizontal direction are powered off and the electromagnetic clutch in the vertical direction is powered on, the right and left horizontal rudders remain stationary, and the vertical rudder rotates, thereby being able to control the heading of the underwater vehicle or the towing body.

[0021] Beneficial effects:

[0022] (1) The present invention can realize the function of controlling the attitude and heading of an underwater vehicle or a towed body simultaneously by relying on a single servo through the cooperation of the first rotating arm, the second rotating arm and the three electromagnetic clutches, thereby saving the installation space of the underwater vehicle or the towed body, reducing the weight of the equipment, and having a simple and reliable principle and being easy to assemble and disassemble.

[0023] (2) In the present invention, by controlling the on and off of three electromagnetic clutches, the steering gear can be continuously returned to the zero position, cyclically pushing the second rotating arm, greatly reducing the requirements for the steering gear stroke, reducing the size and weight of the steering gear, and thus saving the space and weight of the underwater vehicle or the towing body.

[0024] (3) The present invention has wide applicability. When the steering gear and the electromagnetic clutch are designed to be watertight, the device can be used for a water-permeable structure. When the right horizontal rudder, the left horizontal rudder and the vertical rudder are dynamically sealed with the casing, the device can also be used for a watertight structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall structural diagram of the underwater vehicle or towed body attitude and heading single servo control device of the present invention;

[0026] Figure 2 is a schematic diagram of the first rotating arm structure;

[0027] Figure 3 is a schematic diagram of the connection between the first rotating arm and the second rotating arm;

[0028] Figure 4 This is a schematic diagram of the rudder shaft structure.

[0029] Wherein: 1-housing, 2-servo, 21-double-ear hinged seat, 3-right horizontal rudder, 4-rudder plate shaft, 5-electromagnetic clutch, 6-transfer shaft, 7-vertical rudder, 8-first rotating arm, 9-left horizontal rudder, 10-second rotating arm, 11-pin shaft, 12-mounting base, 121-single-ear hinged seat, 13-connecting notch, 14-column protrusion, 15-baffle, 16-U-shaped shaft, 17-groove, 18-key slot, 19-fork slot, 20-fork. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0031] This embodiment provides a single-servo control device for the attitude and heading of an underwater vehicle or a towed body, which can simultaneously realize the function of controlling the attitude and heading of the underwater vehicle or the towed body by relying on a single servo.

[0032] like Figure 1 As shown, the single-servo control device for the attitude and heading of an underwater vehicle or a towed body includes: a housing 1, a servo 2, three rudder plate shafts 4, three electromagnetic clutches 5, a first rotating arm 8, a second rotating arm 10 and three rudder plates, wherein the three rudder plates are a right horizontal rudder 3, a left horizontal rudder 9 and a vertical rudder 7 respectively.

[0033] The right horizontal rudder 3 is used to provide lift for changing the attitude of the underwater vehicle or the towed body, and is arranged on the right side of the shell 1 in the horizontal direction; the left horizontal rudder 9 is used to provide lift for changing the attitude of the underwater vehicle or the towed body, and is arranged on the left side of the shell 1 in the horizontal direction; the vertical rudder 7 is used to provide lift for changing the heading of the underwater vehicle or the towed body, and is arranged in the vertical direction of the upper surface of the shell 1.

[0034] Among them, the shell 1 is used to provide a mounting platform for the mounting base 12 and the rudder plate shaft 4; the mounting base 12 is used to support the servo 2 in the shell 1, and the mounting base 12 has a base connected to the shell 1 and a single-ear hinged seat 121 connected to the servo 2.

[0035] The servo 2 is used to provide drive for the entire device. The servo 2 can be a linear push rod driven by electricity, or a linear push rod driven by hydraulic or pneumatic power. Its front push rod (i.e., the power output end of the servo 2) can perform linear reciprocating motion. The front push rod of the servo 2 has a fisheye bearing as an articulated seat (for easy installation and elimination of the influence of torque). The middle position of the servo 2 has a double-ear articulated seat 21 connected to the mounting base 12, that is, the servo 2 is articulated with the single-ear articulated seat 121 on the mounting base 12 through the double-ear articulated seat 21, so that the servo 2 can rotate freely around the articulation between it and the mounting base 12.

[0036] The rudder plate shaft 4 is used to transmit torque, and the right horizontal rudder 3, the left horizontal rudder 9 and the vertical rudder 7 each correspond to a rudder plate shaft 4; one end of the rudder plate shaft 4 is fixed to the right horizontal rudder 3, the left horizontal rudder 9 or the vertical rudder 7, and the other side is fixed to the electromagnetic clutch 5 through fasteners and pin keys; that is, the rudder plate shaft 4 connected to the vertical rudder 7 is vertically arranged, the upper end is connected to the vertical rudder 7, and the lower end is connected to an electromagnetic clutch 5; the rudder plate shaft 4 connected to the right horizontal rudder 3 is horizontally arranged, the right end is connected to the right horizontal rudder 3, and the left end is connected to an electromagnetic clutch 5; the rudder plate shaft 4 connected to the left horizontal rudder 9 is horizontally arranged, the left end is connected to the right horizontal rudder 3, and the right end is connected to an electromagnetic clutch 5.

[0037] Each rudder plate shaft 4 is connected to a transfer shaft 6 through an electromagnetic clutch 5, that is, the electromagnetic clutch 5 is arranged between the corresponding rudder plate shaft 4 and the transfer shaft 6. The electromagnetic clutch 5 is used to connect and disconnect the corresponding rudder plate shaft 4 and the transfer shaft 6, and then control the right horizontal rudder 3, the vertical rudder 7, and the left horizontal rudder 9 to move with the steering gear 2 individually or simultaneously.

[0038] For the convenience of description, the adapter shaft 6 connected to the rudder plate shaft 4 corresponding to the right horizontal rudder 3 and the left horizontal rudder 9 is a horizontal adapter shaft, and the two horizontal adapter shafts are coaxially connected through the second rotating arm 10; the adapter shaft 6 connected to the rudder plate shaft 4 corresponding to the vertical rudder 7 is a vertical adapter shaft, and the vertical adapter shaft is connected to one end of the first rotating arm 8. The adapter shaft 6 (including the horizontal adapter shaft and the vertical adapter shaft) is used to transmit the torque of the second rotating arm 10.

[0039] The front end push rod of the steering gear 2 is hinged to the second rotating arm 10 through a pin shaft 11, and the steering gear 2 can rotate freely around the hinge, so that the second rotating arm 10 can convert the linear motion of the push rod of the steering gear 2 into the rotation of the two horizontal transfer shafts around their own axes.

[0040] At the same time, the other end of the first rotating arm 8 cooperates with the second rotating arm 10 to transmit the rotation of the second rotating arm 10, that is, when the second rotating arm 10 rotates, it can drive the vertical transfer shaft connected to the first rotating arm 8 to rotate around its own axis.

[0041] The specific structures of the first rotating arm 8, the second rotating arm 10 and the steering plate shaft 4 are respectively given below.

[0042] like Figure 2 As shown, the first rotating arm 8 is arranged horizontally, and a connecting groove 13 connected to the vertical transfer shaft is reserved at one end, and is fixed to the vertical transfer shaft by standard fasteners; a cylindrical protrusion 14 is designed at the other end, and the axis of the cylindrical protrusion 14 is coplanar and perpendicular to the rotation center line of the first rotating arm 8.

[0043] like Figure 3 As shown, the middle part of the second rotating arm 10 is used to be coaxially connected with two horizontal transfer shafts (a notch for connecting with the horizontal transfer shaft is provided in the middle part), and a double-ear hinge seat connected with the steering gear 2 is extended at the lower end, and a double-ear hinge hole is provided on the double-ear hinge seat; a sheet-shaped shift fork 20 is extended upward at one axial end, and a shift fork notch 19 is vertically provided on the shift fork 20. When the first rotating arm 8 is connected with the second rotating arm 10, the cylindrical protrusion 14 at the front end of the first rotating arm 8 is inserted into the shift fork notch 19 of the second rotating arm 10, and can slide up and down in the shift fork notch 19; the axis of the cylindrical protrusion 14 is perpendicularly intersected with the axis of the vertical transfer shaft.

[0044] As an example, the fork notch 19 is a U-shaped groove arranged at the upper end of the fork 20, and a baffle 15 is fixed to the U-shaped opening to prevent the cylindrical protrusion 14 at the front end of the first rotating arm 8 from falling off when sliding along the fork notch 19 of the second rotating arm 10. A semicircular groove is arranged at a position corresponding to the cylindrical protrusion 14 on the lower surface of the baffle 15.

[0045] Therefore, when the servo 2 is started, its push rod is extended and retracted, pushing the second rotating arm 10 to rotate around its own axis, driving the two horizontal transfer shafts to rotate; at the same time, the fork groove 19 of the second rotating arm 10 has a guiding effect on the cylindrical protrusion 14 at the front end of the first rotating arm 8 (that is, the fork of the second rotating arm 10 pushes the cylindrical protrusion 14 at the front end of the first rotating arm 8), driving the first rotating arm 8 to rotate around its own axis.

[0046] like Figure 4 As shown, one end of the rudder plate shaft 4 is designed as a U-shaped shaft 16, which is connected to the corresponding rudder plate and then fixed to the rudder plate by using the inclined locking principle; a groove 17 is designed on the rudder plate shaft 4 for the shaft to be installed with an elastic retaining ring to prevent the rudder plate shaft 4 from being disengaged from the housing 1 during the installation process; a key slot 18 connected to the electromagnetic clutch 5 is reserved at the other end of the rudder plate shaft 4, and is connected to the electromagnetic clutch 5 through a pin key.

[0047] The working principle of the control device is:

[0048] The two electromagnetic clutches 5 in the horizontal direction are arranged between the left and right rudder plate shafts 4 and the adapter shafts 6 on the corresponding sides. The rudder plate shafts 4 are connected and fixed to the rudder plate on the corresponding side, and the left and right adapter shafts 6 are connected and fixed to the second rotating arm 10; the front end push rod of the steering gear 2 is controlled to make linear motion, driving the second rotating arm 10 to rotate, and at the same time controlling the on and off of the left and right electromagnetic clutches 5, so as to realize the left horizontal rudder 9 and the right horizontal rudder 3 to rotate separately or simultaneously, thereby controlling the roll and pitch of the underwater vehicle or towed body.

[0049] The electromagnetic clutch 5 in the vertical direction is also arranged between the vertically arranged rudder plate shaft 4 and the vertical transfer shaft. The vertically arranged rudder plate shaft 4 is connected and fixed to the vertical rudder 7. The vertical transfer shaft is connected and fixed to the first rotating arm 8. The first rotating arm 8 cooperates with the second rotating arm 10. The servo 2 drives the second rotating arm 10 to rotate, and then drives the first rotating arm 8 and the vertical transfer shaft to rotate around the axis of the vertical transfer shaft, controls the on and off of the electromagnetic clutch 5, and realizes the rotation of the vertical rudder 7 alone or with the right horizontal rudder 3 and the left horizontal rudder 9, thereby controlling the heading of the underwater vehicle or the towed body.

[0050] Thus, the control device can control whether the right horizontal rudder 3, the left horizontal rudder 9 and the vertical rudder 7 move with the steering gear 2 by controlling the on and off of the three electromagnetic clutches 5. Typical control conditions are as follows:

[0051] 1. Both electromagnetic clutches 5 in the horizontal direction are powered on, the right horizontal rudder 3 and the left horizontal rudder 9 are linked, the electromagnetic clutch 5 in the vertical direction is powered off, the vertical rudder 7 does not move, and the pitch of the underwater vehicle or the towed body is controlled;

[0052] Second, the electromagnetic clutch 5 on one side of the horizontal direction is powered on, the right horizontal rudder 3 and the left horizontal rudder 9 only rotate individually, the vertical electromagnetic clutch 5 is powered off, the vertical rudder 7 does not move, and the roll of the underwater vehicle or the towed body is controlled;

[0053] 3. The two horizontal electromagnetic clutches 5 are powered off, the right horizontal rudder 3 and the left horizontal rudder 9 remain stationary, the vertical electromagnetic clutch 5 is powered on, the vertical rudder 7 rotates, and the heading of the underwater vehicle or the towed body is controlled.

[0054] The control device can control the on and off of the three electromagnetic clutches 5 to make the steering gear 2 return to the zero position continuously and cyclically push the second rotating arm 10, thereby greatly reducing the requirement for the travel of the steering gear 2 and reducing the size and weight of the steering gear 2.

[0055] In the control device, in the horizontal direction, the rotation centerline of the second rotating arm 10 coincides with the rotation centerline of the right horizontal rudder 3 and the left horizontal rudder 9, and coincides with the axis of the horizontally arranged rudder plate shaft 4, the horizontally arranged electromagnetic clutch 5, and the horizontally arranged adapter shaft 6, and the right horizontal rudder 3 and the left horizontal rudder 9 can rotate around this axis; in the vertical direction, the rotation centerline of the vertical rudder 7 coincides with the axis of the vertically arranged rudder plate shaft 4, the vertically arranged electromagnetic clutch 5 and the vertically arranged adapter shaft 6, and this axis is also the rotation centerline of the first rotating arm 8, and the vertical rudder 7 can rotate around this axis.

[0056] The steering gear 2 is hinged and fixed to the mounting base 12, the front end push rod of the steering gear 2 is hinged to the second rotating arm 10, the first rotating arm 8 is slidably connected to the second rotating arm 10, the push rod of the steering gear 2 can make linear reciprocating motion, drive the second rotating arm 10 to rotate, and the second rotating arm 10 drives the first rotating arm 8 to rotate.

[0057] The control device has wide applicability. When the steering gear 2 and the electromagnetic clutch 5 are designed to be watertight, the device can be used for a water-permeable structure; when the right horizontal rudder 3, the left horizontal rudder 9 and the vertical rudder 7 are dynamically sealed with the housing 1, the device can also be used for a watertight structure.

[0058] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A single servo control device for the attitude and heading of an underwater vehicle or a towed body, comprising three rudders, namely a right horizontal rudder, a left horizontal rudder and a vertical rudder, characterized in that: Also includes: A housing, a steering gear, three steering plate shafts, three electromagnetic clutches, a first rotating arm and a second rotating arm; The mounting base is used to support the steering gear in the housing, and the steering gear is hinged on the mounting base; the steering gear is a linear steering gear; Each rudder plate is connected to a rudder plate shaft, and each rudder plate shaft is connected to a transfer shaft via an electromagnetic clutch; The transfer shaft connected to the rudder plate shafts corresponding to the right horizontal rudder and the left horizontal rudder is called a horizontal transfer shaft, and the two horizontal transfer shafts are coaxially connected through a second rotating arm; the transfer shaft connected to the rudder plate shaft corresponding to the vertical rudder is called a vertical transfer shaft; one end of the first rotating arm is connected to the vertical transfer shaft, and the other end is matched with the second rotating arm, and when the second rotating arm rotates, it can drive the vertical transfer shaft connected to the first rotating arm to rotate around its own axis; The steering gear front end push rod is hinged to the second rotating arm, and the second rotating arm can convert the linear motion of the steering gear push rod into the rotation of the two horizontal transfer shafts around their own axes.

2. The single servo control device for attitude and heading of an underwater vehicle or a towed body according to claim 1, characterized in that: The first rotating arm is arranged horizontally, and one end is provided with a connecting notch connected to the vertical transfer shaft; and the other end has a cylindrical protrusion; The middle part of the second rotating arm is used to be coaxially connected with two horizontal transfer shafts, and the lower end is extended with a double-ear hinge seat for connecting with the steering gear; a sheet-shaped shift fork is extended upward at one end of the axis, and a shift fork slot is vertically opened on the shift fork; The cylindrical protrusion at the end of the first rotating arm is inserted into the shift fork slot and can slide up and down in the shift fork slot; the axis of the cylindrical protrusion intersects perpendicularly with the axis of the vertical transfer shaft.

3. The single servo control device for the attitude and heading of an underwater vehicle or a towed body according to claim 2, characterized in that: The shift fork notch is a U-shaped groove arranged at the upper end of the shift fork, and a baffle is fixed to its U-shaped opening; A semicircular groove is arranged on the lower surface of the baffle at a position corresponding to the cylindrical protrusion.

4. The single servo control device for attitude and heading of an underwater vehicle or a towed body according to any one of claims 1 to 3, characterized in that: One end of the rudder plate shaft is fixed to the rudder plate by using the inclined plane locking principle; the other end is provided with a keyway connected to the electromagnetic clutch and is connected to the electromagnetic clutch through a pin key.

5. The single servo control device for the attitude and heading of an underwater vehicle or a towed body according to claim 4, characterized in that: The rudder plate shaft is provided with a shaft elastic retaining ring.

6. The single servo control device for attitude and heading of an underwater vehicle or a towed body according to any one of claims 1 to 3, characterized in that: When the two electromagnetic clutches in the horizontal direction are powered on and the electromagnetic clutch in the vertical direction is powered off, the right horizontal rudder and the left horizontal rudder are linked, and the vertical rudder does not move, so that the pitch of the underwater vehicle or the towed body can be controlled; When the electromagnetic clutch on one side of the horizontal direction is energized and the vertical electromagnetic clutch is de-energized, only the horizontal rudder on the energized side rotates, and the vertical rudder does not move, which can control the roll of the underwater vehicle or the towed body; When the two electromagnetic clutches in the horizontal direction are powered off and the electromagnetic clutch in the vertical direction is powered on, the right and left horizontal rudders remain stationary, and the vertical rudder rotates, thereby being able to control the heading of the underwater vehicle or the towing body.

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